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<a href="#pub-attribs">成员变量</a>  </div>
  <div class="headertitle"><div class="title">PID_Parameter结构体 参考</div></div>
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<p><a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> parameters structure  
 <a href="#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="pid_8h_source.html">pid.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 id="header-pub-attribs" class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
成员变量</h2></td></tr>
<tr class="memitem:a1f7add0f84d583bc2eceb290d6c4cc06" id="r_a1f7add0f84d583bc2eceb290d6c4cc06"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a></td></tr>
<tr class="memitem:a050993b7ca6c97e62c1020017f716b91" id="r_a050993b7ca6c97e62c1020017f716b91"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a050993b7ca6c97e62c1020017f716b91">ki</a></td></tr>
<tr class="memitem:ae7a5c6018507bb1361fcca170e069b9c" id="r_ae7a5c6018507bb1361fcca170e069b9c"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae7a5c6018507bb1361fcca170e069b9c">kd</a></td></tr>
<tr class="memitem:a8316c26d84f05bc0d80143ecbb3d3590" id="r_a8316c26d84f05bc0d80143ecbb3d3590"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8316c26d84f05bc0d80143ecbb3d3590">filter_for_D</a></td></tr>
<tr class="memitem:af712e5b056badba866e04e8e6dcc5f73" id="r_af712e5b056badba866e04e8e6dcc5f73"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af712e5b056badba866e04e8e6dcc5f73">error_tolerance_range</a></td></tr>
<tr class="memitem:a6758f23340adab90496da0d83ff2280b" id="r_a6758f23340adab90496da0d83ff2280b"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6758f23340adab90496da0d83ff2280b">Gearshift_Integral</a></td></tr>
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<a name="details" id="details"></a><h2 id="header-details" class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="struct_p_i_d.html" title="Main PID controller structure">PID</a> parameters structure </p>
</div><a name="doc-variable-members" id="doc-variable-members"></a><h2 id="header-doc-variable-members" class="groupheader">结构体成员变量说明</h2>
<a id="af712e5b056badba866e04e8e6dcc5f73" name="af712e5b056badba866e04e8e6dcc5f73"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af712e5b056badba866e04e8e6dcc5f73">&#9670;&#160;</a></span>error_tolerance_range</h2>

<div class="memitem">
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          <td class="memname">float error_tolerance_range</td>
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<p>Error threshold for filtering small errors </p>

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<a id="a8316c26d84f05bc0d80143ecbb3d3590" name="a8316c26d84f05bc0d80143ecbb3d3590"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8316c26d84f05bc0d80143ecbb3d3590">&#9670;&#160;</a></span>filter_for_D</h2>

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          <td class="memname">float filter_for_D</td>
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<p>Complementary filter parameter for derivative term </p>

</div>
</div>
<a id="a6758f23340adab90496da0d83ff2280b" name="a6758f23340adab90496da0d83ff2280b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6758f23340adab90496da0d83ff2280b">&#9670;&#160;</a></span>Gearshift_Integral</h2>

<div class="memitem">
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          <td class="memname">float Gearshift_Integral</td>
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<p>Variable integral gain coefficient </p>

</div>
</div>
<a id="ae7a5c6018507bb1361fcca170e069b9c" name="ae7a5c6018507bb1361fcca170e069b9c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae7a5c6018507bb1361fcca170e069b9c">&#9670;&#160;</a></span>kd</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">float kd</td>
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<p>Derivative gain </p>

</div>
</div>
<a id="a050993b7ca6c97e62c1020017f716b91" name="a050993b7ca6c97e62c1020017f716b91"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a050993b7ca6c97e62c1020017f716b91">&#9670;&#160;</a></span>ki</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">float ki</td>
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<p>Integral gain </p>

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<a id="a1f7add0f84d583bc2eceb290d6c4cc06" name="a1f7add0f84d583bc2eceb290d6c4cc06"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1f7add0f84d583bc2eceb290d6c4cc06">&#9670;&#160;</a></span>kp</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">float kp</td>
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<p>Proportional gain </p>

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<hr/>该结构体的文档由以下文件生成:<ul>
<li>E:/STM32CubeIDEWorkspace/noRTOS/PID_Study/Drivers/Algorithm/Inc/<a class="el" href="pid_8h_source.html">pid.h</a></li>
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